On nonlinear dynamics and control of a robotic arm with chaos
Autor(a) principal: | |
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Data de Publicação: | 2014 |
Outros Autores: | , , , , , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://www.matec-conferences.org/articles/matecconf/abs/2014/07/matecconf_csndd2014_05002/matecconf_csndd2014_05002.html http://hdl.handle.net/11449/130270 |
Resumo: | In this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system, were implemented using, two control techniques, the nonlinear saturation control (NSC) and the optimal linear feedback control (OLFC). The actuator and sensor of the device are allowed in the pivot and joints of the double pendulum. The nonlinear saturation control (NSC) is based in the order second differential equations and its action in the pivot/joint of the robotic arm is through of quadratic nonlinearities feedback signals. The optimal linear feedback control (OLFC) involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system to a desired periodic orbit, and control a feedback control to bring the trajectory of the system to the desired orbit. Simulation results, including of uncertainties show the feasibility of the both methods, for chaos control of the considered system. |
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On nonlinear dynamics and control of a robotic arm with chaosIn this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system, were implemented using, two control techniques, the nonlinear saturation control (NSC) and the optimal linear feedback control (OLFC). The actuator and sensor of the device are allowed in the pivot and joints of the double pendulum. The nonlinear saturation control (NSC) is based in the order second differential equations and its action in the pivot/joint of the robotic arm is through of quadratic nonlinearities feedback signals. The optimal linear feedback control (OLFC) involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system to a desired periodic orbit, and control a feedback control to bring the trajectory of the system to the desired orbit. Simulation results, including of uncertainties show the feasibility of the both methods, for chaos control of the considered system.Fundação de Amparo à Pesquisa do Estado de Minas Gerais (FAPEMIG)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)UNIPAMPA, Bage, RS, BrazilUniv Fed Abc, Santo Andre, SP, BrazilUTFPR, Ponta Grossa, PR, BrazilUNESP, Sorocaba, SP, BrazilUNESP, Sorocaba, SP, BrazilE D P SciencesUniversidade Federal do Pampa (UNIPAMPA)Universidade Federal do ABC (UFABC)Universidade Tecnológica Federal do Paraná (UTFPR)Universidade Estadual Paulista (Unesp)Felix, J. L. P.Silva, E. L.Balthazar, J. M.Tusset, A. M.Bueno, A. M. [UNESP]Brasil, R. M. L. R. F.Belhaq, M.2015-11-03T15:30:52Z2015-11-03T15:30:52Z2014-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject1-6application/pdfhttp://www.matec-conferences.org/articles/matecconf/abs/2014/07/matecconf_csndd2014_05002/matecconf_csndd2014_05002.htmlCsndd 2014 - International Conference On Structural Nonlinear Dynamics And Diagnosis. Cedex A: E D P Sciences, v. 16, p. 1-6, 2014.2261-236Xhttp://hdl.handle.net/11449/13027010.1051/matecconf/20141605002WOS:000351934200027WOS000351934200027.pdfWeb of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengCsndd 2014 - International Conference On Structural Nonlinear Dynamics And Diagnosisinfo:eu-repo/semantics/openAccess2023-11-16T06:15:12Zoai:repositorio.unesp.br:11449/130270Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T17:53:10.881581Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
On nonlinear dynamics and control of a robotic arm with chaos |
title |
On nonlinear dynamics and control of a robotic arm with chaos |
spellingShingle |
On nonlinear dynamics and control of a robotic arm with chaos Felix, J. L. P. |
title_short |
On nonlinear dynamics and control of a robotic arm with chaos |
title_full |
On nonlinear dynamics and control of a robotic arm with chaos |
title_fullStr |
On nonlinear dynamics and control of a robotic arm with chaos |
title_full_unstemmed |
On nonlinear dynamics and control of a robotic arm with chaos |
title_sort |
On nonlinear dynamics and control of a robotic arm with chaos |
author |
Felix, J. L. P. |
author_facet |
Felix, J. L. P. Silva, E. L. Balthazar, J. M. Tusset, A. M. Bueno, A. M. [UNESP] Brasil, R. M. L. R. F. Belhaq, M. |
author_role |
author |
author2 |
Silva, E. L. Balthazar, J. M. Tusset, A. M. Bueno, A. M. [UNESP] Brasil, R. M. L. R. F. Belhaq, M. |
author2_role |
author author author author author author |
dc.contributor.none.fl_str_mv |
Universidade Federal do Pampa (UNIPAMPA) Universidade Federal do ABC (UFABC) Universidade Tecnológica Federal do Paraná (UTFPR) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Felix, J. L. P. Silva, E. L. Balthazar, J. M. Tusset, A. M. Bueno, A. M. [UNESP] Brasil, R. M. L. R. F. Belhaq, M. |
description |
In this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system, were implemented using, two control techniques, the nonlinear saturation control (NSC) and the optimal linear feedback control (OLFC). The actuator and sensor of the device are allowed in the pivot and joints of the double pendulum. The nonlinear saturation control (NSC) is based in the order second differential equations and its action in the pivot/joint of the robotic arm is through of quadratic nonlinearities feedback signals. The optimal linear feedback control (OLFC) involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system to a desired periodic orbit, and control a feedback control to bring the trajectory of the system to the desired orbit. Simulation results, including of uncertainties show the feasibility of the both methods, for chaos control of the considered system. |
publishDate |
2014 |
dc.date.none.fl_str_mv |
2014-01-01 2015-11-03T15:30:52Z 2015-11-03T15:30:52Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://www.matec-conferences.org/articles/matecconf/abs/2014/07/matecconf_csndd2014_05002/matecconf_csndd2014_05002.html Csndd 2014 - International Conference On Structural Nonlinear Dynamics And Diagnosis. Cedex A: E D P Sciences, v. 16, p. 1-6, 2014. 2261-236X http://hdl.handle.net/11449/130270 10.1051/matecconf/20141605002 WOS:000351934200027 WOS000351934200027.pdf |
url |
http://www.matec-conferences.org/articles/matecconf/abs/2014/07/matecconf_csndd2014_05002/matecconf_csndd2014_05002.html http://hdl.handle.net/11449/130270 |
identifier_str_mv |
Csndd 2014 - International Conference On Structural Nonlinear Dynamics And Diagnosis. Cedex A: E D P Sciences, v. 16, p. 1-6, 2014. 2261-236X 10.1051/matecconf/20141605002 WOS:000351934200027 WOS000351934200027.pdf |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Csndd 2014 - International Conference On Structural Nonlinear Dynamics And Diagnosis |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
1-6 application/pdf |
dc.publisher.none.fl_str_mv |
E D P Sciences |
publisher.none.fl_str_mv |
E D P Sciences |
dc.source.none.fl_str_mv |
Web of Science reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
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1808128871300595712 |